CN104246902B - The tube sheet walker checked for heat exchanger - Google Patents
The tube sheet walker checked for heat exchanger Download PDFInfo
- Publication number
- CN104246902B CN104246902B CN201380020217.2A CN201380020217A CN104246902B CN 104246902 B CN104246902 B CN 104246902B CN 201380020217 A CN201380020217 A CN 201380020217A CN 104246902 B CN104246902 B CN 104246902B
- Authority
- CN
- China
- Prior art keywords
- tube sheet
- guide rail
- balladeur train
- mechanical arm
- attachment means
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
- F22B37/006—Walking equipment, e.g. walking platforms suspended at the tube sheet
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/02—Component parts or details of steam boilers applicable to more than one kind or type of steam boiler
- F22B37/48—Devices for removing water, salt, or sludge from boilers; Arrangements of cleaning apparatus in boilers; Combinations thereof with boilers
- F22B37/483—Devices for removing water, salt, or sludge from boilers; Arrangements of cleaning apparatus in boilers; Combinations thereof with boilers specially adapted for nuclear steam generators
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- General Engineering & Computer Science (AREA)
- Thermal Sciences (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to mechanical arm tube sheet walker, it has two guide rails connected by center hinge, and the wherein center hinge can be opened or closed by actuation means.Balladeur train is installed on each guide rail, wherein each balladeur train can be moved along its corresponding guide rail by means of drive mechanism towards or away from center hinge.Each balladeur train also includes at least two " clamper " attachment means, such as cam lock, to clamp tube sheet.Clamper is inserted into the pore in tube sheet corresponding balladeur train being fastened to tube sheet, or clamper retracts to disengage.Center hinge is also attached with tool support fixator, and the tool support fixator is attached with connector, and the connector keeps safeguarding or checking tool.
Description
The cross reference of related application
Entitled " the Tubesheet Walker for Heat Exchanger submitted this application claims May 10 in 2012
Inspections (being used for the tube sheet walker that heat exchanger is checked) " U.S. Provisional Application No.61/645,220's is preferential
Power, the disclosure of which is incorporated herein by reference.
Technical field
The present invention relates to mechanical arm system, in particular it relates to be handed over for the heat in the steam generator of nuclear power station
The mechanical arm of parallel operation pipe.
Background technology
In pressure (hydraulic) water nuclear power generation system, the heat produced by nuclear reaction is circulated through the primary cooling of reactor core
Agent absorbs, and for producing steam in a vapor generator.Steam generator is typically vertical cylindrical pressure vessel, tool
There is hemispheric end section.Transverse plate is referred to as tube sheet, and positioned at the lower end of cylindrical sector, steam generator is divided into
Primary side and primary side, primary side are lower hemispherical sections, below the tube sheet and in being extended on the downside of tube sheet
The inner side of U-tube in cylindrical sector, primary side is located above tube sheet around these pipes.Primary side is divided into by vertical wall
Entrance zone, threshold zone and exit zone.Tube sheet is the thick carbon steel plate with hole array, and the end of U-tube is inserted into this some holes.Steam
The quantity of pipe is in the range of from about 4,000 to about 15,000 in generator tube sheet.The end insertion of each U-tube
In the hole of the tube sheet connected to the entrance zone, threshold zone with primary side, another end is inserted into the hole of the tube sheet connected with exit zone
In.Primary coolant is introduced in the entrance zone, threshold zone of primary side under stress, cycles through U-tube, and pass through outlet area
Section is left.The water being incorporated into the primary side of steam generator is circulated around U-tube, and by means of being transmitted from primary coolant
Heat and be converted into steam.Then, steam is used for doing useful mechanical work, such as to operate turbine driven generator.
The deterioration of pipe is likely to occur during the operation of steam generator.This deterioration is undesirable, except others
Outside reason, it is radioactive to also reside in primary coolant, therefore any primary side for leaking into generator of cooling agent all can
Pollute the steam contacted with turbine.The pipe for changing deterioration is typically unpractiaca.On the contrary, to periodically check steam generation
Device, and repair or impacted pipe is blocked at two ends.In view of the thousands of pipes in steam generator, a few is blocked
Pipe will not significantly affect the efficiency of heat transfer.
Because there is radiation injury in the steam generator used in nuclear power station, for most of parts,
The heat exchanger tube of this steam generator must be serviced remotely, to avoid making attendant be exposed to what may be harmful to
Radiation.Therefore it has already been proposed that a variety of mechanical arm systems, reparation and maintenance are performed for long-range on these heat exchanger tubes
Operation.These mechanical arm systems generally include some kinds of mechanical arm delivering arm, and it is with being designed to what is carried by mechanical arm
Any one combination in multiple specialist tools.
In most recent two decades, the service of nuclear boiler there occurs theatrical change.In past, many older steamings
Vapour generator pipe becomes deterioration, and needs substantial amounts of blocking, enters oil or overall steam generator replacing.Power station service shutdown is held
The continuous time is long, and needs complicated mechanical arm executor and instrument to the reparation of steam generator, and it is able to carry out various inspections
Look into and repair, while avoiding the pipe blocked.
At present, most of equipment in factory have changed its steam generator or pipe with blocking is less and need
The generator at least to repair.Most of work for steam generator are related to the vortex inspection that seldom or need not be blocked
Look into.Downtime (which specify the length of shutdown) for plant maintenance and refuelling is reduced, so as to substantially reduce use
In the time of steam generator inspection and service.Obviously, it is necessary to improve the existing mechanical arm system for being used to service steam generator
System, to meet modern maintenance timetable.Current maintenance mechanical arm is generally heavier (more than 100lbs.) and extremely complex, and it is needed
More times and personnel's radioactive exposure is wanted to be transported, erect and installed.Current mechanical arm is also unable to greatly very much
Multiple units are installed on the given section on most of steam generator passage heads.
In addition, steam generator mechanical arm generally has three or more frees degree, and with the multiple of position feedback
Motor.Control system is generally bought together with the complexity of mechanical arm and maintenance cost is high.In addition, being sent out when being arranged on steam
When in raw device, most of mechanical arm anchorings are in place, and must move to that all pipes can be touched during checking.
Most of tube sheet walker mechanical arms, such as it is of the invention, using hole come by mechanical arm and multiple clampings in tube sheet
Device (such as cam lock) is anchored.These mechanical arms are alternately clamped and by another group using two groups of cam locks using one group
New position is moved to, thus promotes mechanical arm to cross tube sheet.The typical machine arm of this design is found in patent No.7,314,
343, its entitled " Miniature Manipulator for Servicing the Interior of Nuclear
Steam Generator Tubes (being used to service the micromanipulator inside nuclear boiler pipe) ".The design of reference is used
" X " is laid out, and it includes the base component, centre revolving joint and the linear slide joint that keep technique particular tool.In addition, in
There is a small amount of vertical motion in heart joint, so that mechanical arm causes tube sheet to move upwards when needed.Referenced design
Problem is that the mechanism is complex, with many complicated parts.In addition, once may only realize along a side
To motion so that mechanical arm has to carry out multiple actions to move along any direction in addition to its current orientation.
In view of the present state of the art, expects a kind of simple, small-sized, light-weighted mechanical arm, it can be conveniently used for
The inspection of the pipe of heat exchanger.
The content of the invention
The present invention is a kind of improved mechanical arm tube sheet walker for heat exchanger examination and maintenance.It is relative to this
Known mechanical arm has multiple advantages in field：Holding is relatively easy to, manufacturing cost is cheap for it, along tube sheet gait of march
It hurry up, and be small-sized and light-weighted.
In one embodiment, mechanical arm has two guide rails connected by center hinge, and wherein the center hinge can
To be opened or closed by actuation means.Balladeur train is installed on each guide rail, wherein each balladeur train can be by means of driving machine
Structure and moved along its corresponding guide rail towards or away from center hinge.Each balladeur train also includes at least two " clampers " and is attached
Mechanism, such as cam lock.Clamper is inserted into pore mechanical arm being fastened to tube sheet, or clamper retracts to disengage.
Center hinge is also attached with tool support fixator, and the tool support fixator is attached with connector, and the connector is kept
Safeguard or checking tool.
Refer to the attached drawing, in the case where considering following explanation and appended claims, these and other objects of the invention,
Features and characteristics and associated structural elements and the operating method and function of component combination will become more apparent, the explanation,
Claims and drawing constitutes the part of this specification, and wherein identical reference represents corresponding portion in each figure
Part.It is expressly understood, however, that purpose of the accompanying drawing just for the sake of illustration, rather than for limiting to the present invention's
Limitation.It is " one " of singulative and " described " including plural as used in description and claims, unless context
Separately have and clearly represent.
Brief description of the drawings
Fig. 1 is the schematic diagram of an exemplary embodiment of the executor of the present invention.
Fig. 2 is the perspective view of exemplary vertical pipe and shell steam generator after Partial Resection.
Fig. 3 is the rough schematic view of the sample portion of the hemispherical section of tube sheet, and executor described below is from the portion
Sub-support.
Embodiment
Directionality wording used herein, for example and without limitation, top, bottom, it is left and right, upper and lower, forward and backward and
Its derivative, is related to the orientation of the element shown in accompanying drawing, rather than limitation claim, unless there are clear and definite expression.
As used herein, two or more statements of part " connection " together shall mean that part be directly connected to or
Operation is connected or operated together together or by one or more intermediate members.
As used herein, two or more parts " are engaged " each other shall mean that part directly or through one
Or multiple intermediate members and applying power relative to each other.
Fig. 1 is the schematic diagram of the improved mechanical arm tube sheet walker according to one exemplary embodiment of the present invention.Such as
It is described more particularly below, theing improvement is that relative to prior art of the invention is more prone to holding, manufacturing cost more
Plus it is cheap, can be along tube sheet Fast marching and more small-sized and lightweight.
Mechanical arm tube sheet walker includes two guide rails 1 and 2 coupled with center hinge 3.Balladeur train 4 is arranged on guide rail 1,
And balladeur train 5 is arranged on guide rail 2.As non-limitative example, each balladeur train can be connected to using C-shaped sliding bearing 32
Its corresponding guide rail, the motion of any direction in addition to the length along guide rail of C-shaped sliding bearing limitation balladeur train.
Balladeur train 4 and 5 includes at least two " clampers " 6, and clamper engages tube sheet to be held in place mechanical arm.Center hinge 3 is attached
There is tool support fixator 7.Connector 8 is attached to tool support fixator 7, and the connector is designed to be kept for a variety of points
Analysis or maintenance tool 9.Such instrument can include such as eddy current probes guiding tube or calker.Pipeline 34 shown in Fig. 1
It is probe delivery tube.
Each clamper 6 is inserted into the hole of tube sheet, and can stretch gripper finger thing with will be corresponding
Balladeur train is held in place.Alternatively, each clamper 6 can be retracted from hole, and corresponding balladeur train is taken off from tube sheet
Open.In one embodiment, clamper is United States Patent (USP) No.7, the cam lock disclosed in 314,343.Clamper 6 can pass through
Cable 10 is remotely operated.In another embodiment, the clamper on balladeur train can be operated in couples.
Center hinge 3 can be moved by actuation means, and the actuation means cause for such as servo motor or pneumatic type
Dynamic device, is opened or closure center hinge.Actuation means can also remotely be operated by cable 10.In one embodiment, work
Has the engagement center hinge 3 of supporting construction 7 so that it is always located at the half angle between the first guide rail 1 and the second guide rail 2
Place.
Balladeur train 4 and 5 can independently be translated by means of drive mechanism, and these drive mechanisms allow balladeur train along each of which
Guide rail motion.Drive mechanism may, for example, be linear motor drive or rotation motor, and it causes little gear to rotate, the little gear
It is operatively connectable to the rack of the length substantially across correspondence guide rail.Alternatively, other drive mechanisms are (for example
Screw rod or tape drive) can for by balladeur train along correspondence guide rail towards or away from center hinge promote.Carriage driving mechanism
Can also remotely it be operated by cable 10.
Present invention additionally comprises the location readers of each balladeur train and center hinge (such as encoder 33) so that remote operation
Person will be seen that the alignment of balladeur train and center hinge relative to tube sheet, so as to correctly position the present invention and make the present invention along
Tube sheet is moved.The remote operation of each mechanism of the mechanical arm of the embodiment is controlled by cable 10.
Fig. 2 shows exemplary steam generator 11, and it uses multiple U-tubes 13, and the formation of these U-tubes restrains 12,
To provide the heating surface needed for heat is transmitted from secondary working fluid (such as reactor coolant), so that secondary fluid
(such as water) evaporates or seethed with excitement.Steam generator 11 includes container, and the container has the tubular housing portion 14 being vertically oriented,
And the substantially hemispherical passage head 17 in the top closure in closed upper end portion or butterfly head 16 and closed lower portion.Bottom
The diameter of casing part 14 is less than top housing section 15, and the connection of truncated conical transitional portion 18 upper and lower part part.Tube sheet
19 are attached to passage head 17, and with the multiple holes 20 being disposed therein, to receive the end of U-tube 13.Demarcation strip 21
It is centrally arranged in passage head 17, so that by channel head part, as two compartments 22 and 23, the two compartments are used as tube bank 12
Collector.Compartment 23 is primary fluid inlet compartment, and with primary fluid inlet nozzle 24 in flow communication.Compartment
22 be secondary working fluid outlet compartment, and with secondary working fluid outlet nozzle 25 in flow communication.Secondary working fluid flows through pipe
Beam 12, and flowed out by outlet nozzle 25.
The feed-water intake structure that secondary fluid is incorporated into generator is included with the substantially water being referred to as to water ring 30
The feed-water intake nozzle 29 of flat part and increase to over discharge nozzle 31 to water ring.Supplied by feed-water intake nozzle 29
Feedwater is left through to water ring 30, and by discharge nozzle 31, in the embodiment of a prior art, feedwater with from steam
The water of separation mixes and recycled to flow along the annular outboard of tube bank.Then, water enters tube bank directly over tube sheet
12, and flowed between tube bank and on tube bank, water is heated to produce steam herein.Flowing through primary centrifuge separator
26, steam passes through secondary separators 27 before the steam outlet nozzle 28 being centrally arranged in butterfly head 16 is reached.
Fig. 3 is the rough schematic view of the tube sheet 19 shown in Fig. 2.In Fig. 1 pipe is illustrated on the downside of above-mentioned executor
On plate in an exemplary position, the clamper in two of which balladeur train extends in pipe and (hides and can't see), will
Tube sheet walker anchors to tube sheet.
In a kind of operator scheme of the present invention, center hinge 3 is set under the angle more than zero, and the angle leads two
Rail is aligned with each comb being pre-selected on tube sheet so that the clamper on balladeur train can be along corresponding pipe row's engagement pore.
Each row is chosen to set out the path to be placed on tool support fixator 7 on pipe to be serviced.Utilize clamper, one
Individual balladeur train clamps tube sheet, while another balladeur train is disengaged and moved along its corresponding guide rail.Alternatively, clamp
The balladeur train of pipe can be moved along its guide rail, so that another balladeur train made to pipe is disengaged is related along the balladeur train with clamping pipe
The orientation of guide rail and move.By this operator scheme, the balladeur train with alignment tools, clamper retraction can be moved, or will
Both is aligned with specific pipe or pipe row.In the case where reaching desired locations, the balladeur train that clamper is retracted can press from both sides it
Holder extension is to engage tube sheet, and the balladeur train being attached first its corresponding clamper and can move to new position by retracting
Put and disengage.So as to, alternate engagement by balladeur train along guide rail and move, mechanical arm can on tube sheet " walking " with will
Instrument is delivered to desired tubesheet location.In addition, by selecting which balladeur train to clamp tube sheet and by opening or closure
Heart hinge, the orientation of tube sheet walker and motion can change in the plane parallel with tube sheet to any desired direction, suitable
Hour hands are counterclockwise.
In addition to above-mentioned basic manipulation mode, mechanical arm can close its center hinge, to be aligned in same direction
Balladeur train, thus allows balladeur train to engage the parallel pipe of two rows by clamper.In this mode of operation, center hinge is not being opened
In the case of, sliding motion is alternately carried out by balladeur train and clamper is attached, mechanical arm can be rapidly translated.For example, such as
Really the first balladeur train is attached to tube sheet using clamper, then the second balladeur train can be along its corresponding guide rail towards or away from center
Hinge is translated.Then, the second balladeur train can be attached to tube sheet using clamper, and the first balladeur train can it be clamped by retracting
Device and pulled down from tube sheet.Then, the first balladeur train can translate to reposition its clamper towards or away from center hinge, so that
For being attached to tube sheet.By this operator scheme, tube sheet walker can be fast forward or backward along the direction of two guide rails
Move fastly.
Although being described in detail this based on being currently considered to most realistic and preferred embodiment for illustration purposes
Invention, but it is to be understood that such details is merely indicative exemplary, and the present invention is not limited to the disclosed embodiments, phase
Instead, it is contemplated that covering the modification in scope and equivalent arrangements.For example, it should be appreciated that of the invention
It is envisioned that in degree as far as possible, one or more features of any embodiment can be with any other embodiment
One or more combinations of features.
Claims (14)
1. a kind of mechanical arm tube sheet walker for heat exchanger examination and maintenance, it includes：
A) the first guide rail and the second guide rail；
First guide rail is connected to second guide rail by b) center hinge, the center hinge, and the center hinge is by structure
Cause make it that one or both of first guide rail or second guide rail can be under the orders from remote location extremely
Partially rotated around the center hinge；
C) the first balladeur train and the second balladeur train, first balladeur train are installed to first guide rail and are configured to along described
First guide rail is moved, and second balladeur train is installed to second guide rail and is configured to transport along second guide rail
Dynamic, each such motion is what is remotely activated under the order from remote location；
D) the first attachment means on the first balladeur train, first attachment means are long-range under the order from remote location
Two tube openings that the first length along first guide rail in surface of the ground actuating will pass through conjugation tube plate is spaced apart
And first balladeur train is fastened to the surface of tube sheet；
E) the second attachment means on the second balladeur train, second attachment means are long-range under the order from remote location
Two tube openings that the second length along second guide rail in surface of the ground actuating will pass through conjugation tube plate is spaced apart
And second balladeur train is fastened to the surface of tube sheet；
F) tool support fixator, the tool support fixator is connected to the mechanical arm tube sheet walker；And
G) wherein pass through when the mechanical arm tube sheet walker, which moves across at least some rows, extends through the pipe of the tube sheet
One of first attachment means or the second attachment means are only from mechanical arm tube sheet walker described in the tube sheet support.
2. mechanical arm tube sheet walker according to claim 1, wherein first balladeur train be slidably mounted in it is described
On first guide rail, second balladeur train is slidably mounted on second guide rail.
3. mechanical arm tube sheet walker according to claim 2, it also includes the first drive mechanism, first driving machine
Structure is connected to first balladeur train and first guide rail so that first balladeur train can be in the dynamic of first drive mechanism
Slided under power along first guide rail towards or away from the center hinge.
4. mechanical arm tube sheet walker according to claim 3, it also includes the second drive mechanism, second driving machine
Structure is connected to second balladeur train and second guide rail so that second balladeur train can be in the dynamic of second drive mechanism
Slided under power along second guide rail towards or away from the center hinge.
5. mechanical arm tube sheet walker according to claim 1, wherein first guide rail and second guide rail are around institute
Center hinge rotation is stated, wherein scope of the relative angle between first guide rail and second guide rail 0 to 180 degree
It is interior.
6. mechanical arm tube sheet walker according to claim 1, wherein the tool support fixator is led described first
Laterally extending from the center hinge in the plane that rail and second guide rail are extended, the tool support fixator is thought
The angular displacement of the half of relative angle between first guide rail and second guide rail is connected to the center hinge, and
Wherein when the angle change between first guide rail and second guide rail, the tool support fixator keeps the angle
Displacement.
7. mechanical arm tube sheet walker according to claim 1, wherein first attachment means and the second attachment means
It is clamper.
8. mechanical arm tube sheet walker according to claim 7, wherein the clamper is remotely movable finger piece.
9. mechanical arm tube sheet walker according to claim 7, wherein the clamper is cam lock.
10. mechanical arm tube sheet walker according to claim 1, wherein the tool support fixator be connected to it is described in
Heart hinge.
11. a kind of method for operating mechanical arm tube sheet walker according to claim 1, it includes：Described first is slided
Frame is engaged by first attachment means with the tube sheet, while second balladeur train and the tube sheet are disengaged, and is made
Second balladeur train moves to the first desired locations along second guide rail or makes first balladeur train along described first
Guide rail is moved so that second sledge movements are to first desired locations, then, and second balladeur train is passed through into described the
Two attachment means are engaged with the tube sheet, while first balladeur train is taken off by first attachment means and the tube sheet
Open, and make first balladeur train move to the second desired locations along first guide rail or make second balladeur train along
Second guide rail is moved so that first sledge movements are to second desired locations.
12. a kind of selection mechanical arm tube sheet walker according to claim 1 is in the plane parallel with the tube sheet
The method of orientation, it includes：First balladeur train is engaged by first attachment means with the tube sheet, while will be described
Second attachment means in second balladeur train are disengaged with the tube sheet, and second balladeur train is revolved around the center hinge
Turn.
13. a kind of selection mechanical arm tube sheet walker according to claim 1 is in the plane parallel with the tube sheet
The method of orientation, it includes：Second balladeur train is engaged by second attachment means with the tube sheet, while will be described
First attachment means in first balladeur train are retracted, and first balladeur train is rotated around the center hinge.
14. a kind of method for operating mechanical arm tube sheet walker according to claim 1, it includes：Make the center hinge
Chain rotates so that first guide rail and second guide rail are almost parallel, wherein first balladeur train is attached by described first
Connection mechanism is engaged with the tube sheet, while second balladeur train is repositioned or first balladeur train along second guide rail
The first desired locations are repositioned onto along first guide rail, then, second balladeur train passes through second attachment means
Engaged with the tube sheet, while first balladeur train disengages with the tube sheet and is repositioned onto the second desired locations.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201261645220P | 2012-05-10 | 2012-05-10 | |
| US61/645,220 | 2012-05-10 | ||
| US13/775,354 | 2013-02-25 | ||
| US13/775,354 US8938044B2 (en) | 2012-05-10 | 2013-02-25 | Tubesheet walker for heat exchanger inspections |
| PCT/US2013/034210 WO2013191784A2 (en) | 2012-05-10 | 2013-03-28 | Tubesheet walker for heat exchanger inspections |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104246902A CN104246902A (en) | 2014-12-24 |
| CN104246902B true CN104246902B (en) | 2017-08-08 |
Family
ID=49547722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380020217.2A Active CN104246902B (en) | 2012-05-10 | 2013-03-28 | The tube sheet walker checked for heat exchanger |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US8938044B2 (en) |
| EP (1) | EP2847768B1 (en) |
| JP (1) | JP6180516B2 (en) |
| KR (1) | KR102072873B1 (en) |
| CN (1) | CN104246902B (en) |
| WO (1) | WO2013191784A2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108986941B (en) * | 2017-06-02 | 2024-02-09 | 核动力运行研究所 | Heat transfer pipe overhauls positioner structure |
| US20210383937A1 (en) * | 2020-06-03 | 2021-12-09 | Westinghouse Electric Company Llc | Articulated manipulator for navigating and servicing a heat exchanger |
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| JPS53110120A (en) * | 1977-03-08 | 1978-09-26 | Westinghouse Electric Corp | Remotely repairing device for pipe in steam generator |
| US4216893A (en) * | 1977-03-08 | 1980-08-12 | Westinghouse Electric Corp. | Apparatus for remotely repairing tubes in a steam generator |
| US4168782A (en) * | 1977-06-13 | 1979-09-25 | Westinghouse Electric Corp. | Remote access manipulator |
| US4303368A (en) * | 1978-09-18 | 1981-12-01 | Westinghouse Electric Corp. | Remote docking apparatus |
| US4476368A (en) * | 1981-02-17 | 1984-10-09 | Cammann Manufacturing Company, Inc. | Inner wall tube disintegrator |
| FR2626515B1 (en) * | 1988-02-02 | 1990-07-20 | Barras Provence | VEHICLE DESIGNED TO MOVE ON THE PERFORATED PLATE OF A TUBE BEAM, TO SELECTIVELY POSITION A TOOL RIGHT OF THE TUBES OF THE BEAM |
| JPH02176071A (en) * | 1988-07-08 | 1990-07-09 | Iseki Tory Tech Inc | Pull-ups moving device |
| US5355063A (en) | 1990-11-01 | 1994-10-11 | Westinghouse Electric Corp. | Robotic system for servicing the heat exchanger tubes of a nuclear steam generator |
| FR2674938B1 (en) * | 1991-04-05 | 1993-07-30 | Barras Provence | VEHICLE FOR EXPLORING AND MAINTAINING A TUBE NETWORK OF A STEAM GENERATOR. |
| US5611948A (en) | 1994-10-31 | 1997-03-18 | Westinghouse Electric Corporation | Apparatus and method for remotely positioning a probe in a tubular member |
| JPH10217160A (en) * | 1997-02-05 | 1998-08-18 | Mitsubishi Heavy Ind Ltd | Walk moving device for tube plate |
| JP2003053288A (en) | 2001-08-20 | 2003-02-25 | Nishi Nippon Plant Kogyo Kk | Thin tube maintenance and inspection apparatus |
| US7314343B2 (en) | 2002-07-22 | 2008-01-01 | Westinghouse Electric Co. Llc | Miniature manipulator for servicing the interior of nuclear steam generator tubes |
| CN101667465B (en) * | 2009-11-27 | 2011-11-16 | 哈尔滨工程大学 | Robot for overhauling primary side of steam generator of nuclear power plant |
-
2013
- 2013-02-25 US US13/775,354 patent/US8938044B2/en active Active
- 2013-03-28 CN CN201380020217.2A patent/CN104246902B/en active Active
- 2013-03-28 WO PCT/US2013/034210 patent/WO2013191784A2/en active Application Filing
- 2013-03-28 JP JP2015511474A patent/JP6180516B2/en active Active
- 2013-03-28 KR KR1020147034476A patent/KR102072873B1/en active IP Right Grant
- 2013-03-28 EP EP13806221.1A patent/EP2847768B1/en active Active
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| Publication number | Publication date |
|---|---|
| JP2015515935A (en) | 2015-06-04 |
| JP6180516B2 (en) | 2017-08-16 |
| KR102072873B1 (en) | 2020-02-03 |
| EP2847768B1 (en) | 2017-05-24 |
| KR20150007346A (en) | 2015-01-20 |
| EP2847768A4 (en) | 2016-03-16 |
| WO2013191784A2 (en) | 2013-12-27 |
| EP2847768A2 (en) | 2015-03-18 |
| US8938044B2 (en) | 2015-01-20 |
| WO2013191784A3 (en) | 2014-02-27 |
| CN104246902A (en) | 2014-12-24 |
| US20130299122A1 (en) | 2013-11-14 |
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